CN102211590A - Detecting vehicle for tunnel - Google Patents
Detecting vehicle for tunnel Download PDFInfo
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- CN102211590A CN102211590A CN2011100869920A CN201110086992A CN102211590A CN 102211590 A CN102211590 A CN 102211590A CN 2011100869920 A CN2011100869920 A CN 2011100869920A CN 201110086992 A CN201110086992 A CN 201110086992A CN 102211590 A CN102211590 A CN 102211590A
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Abstract
The invention discloses a detecting vehicle for a tunnel, which comprises the detecting vehicle and a propelling system, a braking system, an image pick-up system, an image pick-up system support device, a travel measuring system, an infrared triggering device, a computer and a power supply system which are mounted on the detecting vehicle. The propelling system supplies power for the detecting vehicle and controls the detecting vehicle to run; the braking system supplies a braking force for the detecting vehicle and controls the detecting vehicle to stop running; the image pick-up system support device is used for mounting and supporting the image pick-up system; the appearance condition of the tunnel is obtained through taking photos by using the image pick-up system; the travel measuring system is used for measuring a traveling distance of the detecting vehicle; the infrared triggering device is used for triggering the computer and the image pick-up system to work; the computer receives the information acquired by the travel measuring system and the image pick-up system and stores the received information; and the power supply system supplies electric power for the detecting vehicle. Compared with the traditional manual detection, the detecting vehicle is timesaving and laborsaving and has high reliability; and in addition, detecting results before and after can be contrastively analyzed.
Description
Technical field
The present invention relates to a kind of inspection vehicle that is used for subway tunnel, belong to field of civil engineering.
Background technology
Shanghai Underground article one circuit is in formal operation on April 10 nineteen ninety-five, reached 15 years apart from the present.At present, place in operation 11 lines are arranged, wherein removing No. 3 lines is light rail and part suburbs circuit, remaining interval is the ground hypomere.
Shield method is adopted in the construction of Shanghai Underground ground hypomere, be assemblied to form the liner structure of ground hypomere subway tunnel by the reinforced concrete segment that presets, because tunnel structure is subjected to external force effect variation, lining material damage aging, that when constructing tunnel structure is caused or the like a variety of causes, cause producing different shape at the position of tunnel structure fragility, along with the increase of time, form the phenomenon of crack or percolating water on the tunnel lining structure surface.
Be directed to the structure disease phenomenon that occurs in the Shanghai Underground tunnel, usually need to arrange the liner structure of subway tunnel to be carried out regular apparent detection through the professional of training, seek out the various disease phenomenons of the apparent existence of subway tunnel structure by artificial naked eyes, and write down case again.Then, the personnel of maintenance in time repair find the particular location of disease phenomenon according to the list of record disease phenomenon after.Whole process is gone round and begun again in the operation of subway tunnel is safeguarded, thereby guarantees the metro safety operation.
But because human error and careless omission, the method for the present apparent disease phenomenon of taking of artificial naked eyes identification subway tunnel structure can not can not guarantee to omit, and finds and note the various tunnel structure disease phenomenons that existed.And, the structural maintenance in Shanghai Underground tunnel can only utilize the time out of commission in the late into the night to carry out, for the huge tunnel testing of quantity, require a great deal of time the man power and material by the structure detection of manually finishing present all the ground hypomere subway tunnels in Shanghai.
Summary of the invention
The purpose of this invention is to provide a kind of inspection vehicle that is used for the tunnel, it is compared with existing manual detection, has spended time, manpower, and material resources are few; Testing result is reliable, and is complete, backup easily, arrangement, easy analysis; Advantages such as the front and back testing result can compare.
For reaching above purpose, solution of the present invention is:
A kind of inspection vehicle that is used for the tunnel, comprise inspection vehicle and be installed on implementation system, brake system, camera system, camera system bracing or strutting arrangement, stroke measurment system, infrared flip flop equipment, computing machine and electric power system on the inspection vehicle, the implementation system provides power for inspection vehicle, the operation of control detection car; Brake system provides braking force for inspection vehicle, and the control detection car is out of service; The camera system bracing or strutting arrangement is used for installing the support camera system; Camera system is taken pictures and is obtained the phenomenon situation in tunnel; The distance that stroke measurment systematic survey inspection vehicle is advanced; Infrared flip flop equipment is used to trigger computing machine and camera system is carried out work; Computing machine receives the information and the storage of stroke measurment system and camera system collection; Electric power system provides electric power energy for inspection vehicle.
Further, described inspection vehicle has frame, frame is fixed in axletree and holds, the car panel is installed on the frame, the stroke measurment system is installed on axletree, and the frame rear side is installed the implementation system, in the implementation system brake system is installed, computing machine and electric power system place on the car panel, and camera system bracing or strutting arrangement and infrared flip flop equipment are fixed on the frame.
Described stroke measurment system has coder, and coder is nested on the axletree of inspection vehicle, and coder is fixed on the frame with connecting rod.
Described brake system comprises brake, brake crank, and brake crank is installed in the implementation system, for brake provides braking force; Brake is installed on the back axle of inspection vehicle.
Described camera system bracing or strutting arrangement has support tube movable up and down, its height of scalable, and support tube is provided with stay bearing plate, is fixed with camera system on the stay bearing plate.
Described camera system comprises many groups, and every group comprises camera and flash light, installs at a certain angle on the circumferencial direction of stay bearing plate for every group.
It also comprises suspension system, subtracts the antidetonation buffer action for providing in the inspection vehicle traveling process.
It also comprises the safety barrier net, is installed on before and after the frame, for the device that is installed on the inspection vehicle provides protection, prevents landing.
Owing to adopted such scheme, the present invention to have following characteristics:
The present invention is in conjunction with full automatic stroke measurment, utilization is carried out the apparent scanning of subway tunnel structure in conjunction with the digital image science and technology and the apparent scanning system of tunnel structure of computerized Data Processing and the gained image data is filed, except can carrying out the apparent detection of detailed tunnel structure, more can be used as the comparison foundation of the disease phenomenon that in the future regularly detects, assessment reference of tunnel structure situation or the like.
Along with carrying out of routine safeguarded in the subway operation, the present invention can well replace the method for manual detection.Have spended time, manpower, material resources are few; Testing result is reliable, and is complete, backup easily, arrangement, easy analysis; Advantages such as the front and back testing result can compare.
Description of drawings
Fig. 1 is the plan structure scheme drawing of rail vehicle of the present invention.
Fig. 2 is the side-looking structural representation of rail vehicle of the present invention.
Fig. 3 is the backsight structural representation of rail vehicle of the present invention.
The specific embodiment
The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.
A kind of rail vehicle that is applicable to the apparent detection of subway tunnel structure, comprise: common loading small rail car (comprising: wheel, axletree, frame, the load-carrying vehicle panel), inspection vehicle is carried out system 2, the inspection vehicle brake system, the inspection vehicle suspension system, inspection vehicle camera system 6, inspection vehicle camera system bracing or strutting arrangement, inspection vehicle safety barrier net 7, inspection vehicle stroke measurment system 4, the infrared flip flop equipment 1 of inspection vehicle, computing machine 5, electric power system, it is based on common loading small rail car, frame 10 is fixed in axletree and holds, frame 10 is a day font, the car panel is installed on the frame 10 again, the stroke measurment that is nested on axletree is the coder in 4, and coder is fixed on the frame 10 with connecting rod; Carry out system 2 at frame 10 rear sides with bolt; The brake handgrip 9 of brake system is installed on the handlebar of implementation system 2, and brake 8 is installed on the back axle; Infrared flip flop equipment 1 can be fixed on the frame 10, also can be fixed on the guardrail net 7 at vehicle body rear; Computing machine 6, network switch 11 and electric power system steadily are placed on the car panel; In frame 10, slightly lean on the rectangular steel tube 12 of place, back in the middle of the skeleton with bolt camera system bracing or strutting arrangement; The top of steel pipe 12 respectively is mounted with many group cameras and flash light with certain angle with the steel plate ring of bolt camera system 6 on the steel plate ring, with to all carrying out the production of photo on the whole circumference direction, obtains the image of all directions.
Described implementation system is when inspection vehicle is worked, the power that the staff can provide inspection vehicle to advance by the implementation system, the speed of control detection car.The implementation system can adopt simple grip structure, can be by artificial implementation, and it comprises steel pipe and a straight steel pipe of two bendings.With two the bending steel pipes be symmetrically welded on the straight steel pipe, form one similar
The composite set of shape, the weld nugget of two bending steel pipes is apart from the distance of the handlebar in straight steel pipe two ends.An other end of two bending steel pipes is welded in inspection vehicle tailstock framework, and straight steel pipe just in time level places inspection vehicle tailstock back upper place, highly is suitable for the staff and carries out.
Described brake system is when inspection vehicle is worked, and the staff can come the speed of control detection car by brake system, braking inspection vehicle when needing.Brake system can adopt the brake system of similar bicycle.
Described suspension system is when inspection vehicle is worked, and the effect of antidetonation buffering is provided by packing ring and the buffering material that is arranged on the inspection vehicle different parts.It comprises: the elastomeric material between the rubber grommet at bearing and body shell strong point place, the wheel of rubber material, wooden car panel, car panel and the body shell.
Described camera system is when inspection vehicle is worked, and camera system is taken pictures and obtained the phenomenon situation of liner structure, and image data is kept in the computing machine.Camera system comprises many groups, and every group comprises camera and flash light, and every group is installed on the steel plate ring, and installs at a certain angle on the circumferencial direction of steel plate ring, but rectangular distribution on circumference for example, thus can take the picture of tunnel all angles.
Described camera system bracing or strutting arrangement is when inspection vehicle is worked, and fixedly camera system is in certain height, and can regulate the height of camera system.The camera system bracing or strutting arrangement can adopt the kinematic support pipe of similar structures on the tripod that has support cameras now, can be up and down with its height of conversion.Support tube can adopt rectangular steel tube, and fixedly mounts the steel plate ring of camera system on steel pipe.
Described guardrail net is when inspection vehicle is worked, and is fixed on before and after the frame, and the instrument on the protection car panel is used for fixing infrared flip flop equipment.
Described stroke measurment system is when inspection vehicle is worked, and the GPIO card by built-in computer can calculate the distance that inspection vehicle advances.The stroke measurment system comprises coder, and coder is nested on the axletree of inspection vehicle, and coder is fixed on the frame with connecting rod.
Described infrared flip flop equipment is when inspection vehicle is worked, and is used for detection trigger software and begins and quit work, and note the initial point of testing.
The each tunnel of described computer stored detects the image data of back gained.
Described network switch provides local area network for camera system, makes a plurality of cameras of camera system submit data to computing machine simultaneously.
During inspection vehicle work, transmit by infrared flip flop equipment 1 and to start working to computing machine 5 control detection cars, the staff promotes inspection vehicle by implementation system 2 and advances, stroke measurment system 4 starts working, wheel drives the rotation of coder, coder rotates a circle can launch the impulse singla of some to the GPIO card in the computing machine 5, calculated the pulse count that the range encoder of walking two ring widthes emits according to the ring width of the diameter of wheel and tunnel duct piece in advance in the GPIO card, and this value is set to Initial Hurdle.After inspection vehicle advances, coder is emission place pulse count constantly, GPIO is stuck in and deducts the pulse count that receives on the Initial Hurdle basis, when the pulse count in the GPIO card arrives 0, the GPIO card transmits to camera system 6, make camera system 6 work (flash light and camera synchronous working), and the threshold values of counting is reset.The each distances of measuring two ring widthes of stroke measurment system 4, and be spacing apart from threshold values with this, 6 work of prompting camera system guarantee that the photo that camera system 6 takes is many as far as possible not overlapping again.Detect and finish, infrared flip flop equipment 1 sends a signal to computing machine 5 once more, stops to detect, and simultaneously, computing machine 5 can be noted the start-stop position of this detection, for follow-up testing provides foundation.
What obtain after each inspection vehicle work influences data, and detection information such as reference position all will be retained in the computing machine, and these information can be stored in the data bank and provide a large amount of information for follow-up data handing.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art should be within protection scope of the present invention for improvement and modification that the present invention makes according to announcement of the present invention.
Claims (8)
1. inspection vehicle that is used for the tunnel, it is characterized in that: comprise inspection vehicle and be installed on implementation system, brake system, camera system, camera system bracing or strutting arrangement, stroke measurment system, infrared flip flop equipment, computing machine and electric power system on the inspection vehicle, the implementation system provides power for inspection vehicle, the operation of control detection car; Brake system provides braking force for inspection vehicle, and the control detection car is out of service; The camera system bracing or strutting arrangement is used for installing the support camera system; Camera system is taken pictures and is obtained the phenomenon situation in tunnel; The distance that stroke measurment systematic survey inspection vehicle is advanced; Infrared flip flop equipment is used to trigger computing machine and camera system is carried out work; Computing machine receives the information and the storage of stroke measurment system and camera system collection; Electric power system provides electric power energy for inspection vehicle.
2. the inspection vehicle that is used for the tunnel as claimed in claim 1, it is characterized in that: described inspection vehicle has frame, frame is fixed in axletree and holds, the car panel is installed on the frame, the stroke measurment system is installed on axletree, and the frame rear side is installed the implementation system, in the implementation system brake system is installed, computing machine and electric power system place on the car panel, and camera system bracing or strutting arrangement and infrared flip flop equipment are fixed on the frame.
3. the inspection vehicle that is used for the tunnel as claimed in claim 2 is characterized in that: described stroke measurment system has coder, and coder is nested on the axletree of inspection vehicle, and coder is fixed on the frame with connecting rod.
4. the inspection vehicle that is used for the tunnel as claimed in claim 2 is characterized in that: described brake system comprises brake, brake crank, and brake crank is installed in the implementation system, for brake provides braking force; Brake is installed on the back axle of inspection vehicle.
5. the inspection vehicle that is used for the tunnel as claimed in claim 2 is characterized in that: described camera system bracing or strutting arrangement has support tube movable up and down, its height of scalable, and support tube is provided with stay bearing plate, is fixed with camera system on the stay bearing plate.
6. the inspection vehicle that is used for the tunnel as claimed in claim 2 is characterized in that: described camera system comprises many groups, and every group comprises camera and flash light, installs at a certain angle on the circumferencial direction of stay bearing plate for every group.
7. the inspection vehicle that is used for the tunnel as claimed in claim 1 or 2 is characterized in that: it also comprises suspension system, subtracts the antidetonation buffer action for providing in the inspection vehicle traveling process.
8. the inspection vehicle that is used for the tunnel as claimed in claim 1 or 2 is characterized in that: it also comprises the safety barrier net, is installed on before and after the frame, for the device that is installed on the inspection vehicle provides protection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100869920A CN102211590A (en) | 2011-04-07 | 2011-04-07 | Detecting vehicle for tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100869920A CN102211590A (en) | 2011-04-07 | 2011-04-07 | Detecting vehicle for tunnel |
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| CN102211590A true CN102211590A (en) | 2011-10-12 |
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| CN2011100869920A Pending CN102211590A (en) | 2011-04-07 | 2011-04-07 | Detecting vehicle for tunnel |
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Cited By (25)
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| CN102589808A (en) * | 2012-01-16 | 2012-07-18 | 苏州临点三维科技有限公司 | Large-scale tunnel seepage point measuring method |
| CN102590215A (en) * | 2011-12-27 | 2012-07-18 | 郝书亮 | Portable multifunctional tunnel defect information collector |
| CN102607771A (en) * | 2012-02-23 | 2012-07-25 | 中山大学 | Simulation method and system for online detection of hydrogen leakage |
| CN103018255A (en) * | 2012-12-05 | 2013-04-03 | 上海同岩土木工程科技有限公司 | Method for automatically collecting defect data of subway tunnel |
| CN103674963A (en) * | 2013-11-15 | 2014-03-26 | 上海嘉珏实业有限公司 | Tunnel detection device based on digital panoramic photography and detection method thereof |
| CN103912281A (en) * | 2014-03-28 | 2014-07-09 | 宋金博 | Tunnel safety inspection vehicle and detection method |
| CN104111259A (en) * | 2014-07-11 | 2014-10-22 | 上海通芮斯克土木工程技术有限公司 | Rapid high-precision detection equipment of subway shield tunnel diseases |
| CN104237257A (en) * | 2014-09-25 | 2014-12-24 | 同济大学 | Device for comprehensively and rapidly detecting structure damage of running metro tunnel |
| CN104266592A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Sleeper-based displacement measuring method for mobile device inside tunnel |
| CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
| CN104527495A (en) * | 2014-12-19 | 2015-04-22 | 云南省公路开发投资有限责任公司 | Integrated detection truck for road tunnel defects |
| CN104793259A (en) * | 2015-04-13 | 2015-07-22 | 山东大学 | Vehicular full-section infrared detection advanced geological forecasting device and method for applying same |
| CN104807505A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Novel tunnel condition detecting device |
| CN105004621A (en) * | 2015-04-23 | 2015-10-28 | 山东大学 | Vehicle-mounted tunnel full-section multi-arm springback detection device and using method thereof |
| CN105510351A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel inspection van |
| CN105510350A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel surface image acquisition device and tunnel surface detection equipment |
| CN106080653A (en) * | 2016-06-20 | 2016-11-09 | 上海工程技术大学 | A kind of portable Traffic Clearance of Urban Rail Transit detects car frame |
| CN106080626A (en) * | 2016-06-16 | 2016-11-09 | 王春洋 | A kind of Portable type full-automatic track, tunnel moving detection vehicle |
| CN106546190A (en) * | 2016-11-30 | 2017-03-29 | 山西省交通科学研究院 | A kind of robot device and method for surface defects detection |
| CN106885706A (en) * | 2017-04-05 | 2017-06-23 | 西南交通大学 | Semi automatic multiple angle shoots formula tunnel inner wall Defect inspection test carriage |
| CN107333046A (en) * | 2017-08-14 | 2017-11-07 | 成都中信华瑞科技有限公司 | Collecting method and Tunnel testing car |
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| CN108663121A (en) * | 2017-04-01 | 2018-10-16 | 武汉多谱多勒科技有限公司 | A kind of on-line monitoring of water seepage of tunnel and detecting system |
| CN109630821A (en) * | 2018-12-21 | 2019-04-16 | 上海隧道工程质量检测有限公司 | A kind of tunnel detector |
| CN112345537A (en) * | 2020-11-02 | 2021-02-09 | 上海交大海科检测技术有限公司 | Outward appearance testing platform suitable for tunnel |
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| CN102590215A (en) * | 2011-12-27 | 2012-07-18 | 郝书亮 | Portable multifunctional tunnel defect information collector |
| CN102590215B (en) * | 2011-12-27 | 2014-01-01 | 郝书亮 | Portable multifunctional tunnel defect information collector |
| CN102589808A (en) * | 2012-01-16 | 2012-07-18 | 苏州临点三维科技有限公司 | Large-scale tunnel seepage point measuring method |
| CN102607771A (en) * | 2012-02-23 | 2012-07-25 | 中山大学 | Simulation method and system for online detection of hydrogen leakage |
| CN102607771B (en) * | 2012-02-23 | 2014-07-09 | 中山大学 | Simulation method and system for online detection of hydrogen leakage |
| CN103018255A (en) * | 2012-12-05 | 2013-04-03 | 上海同岩土木工程科技有限公司 | Method for automatically collecting defect data of subway tunnel |
| CN103018255B (en) * | 2012-12-05 | 2017-05-10 | 上海同岩土木工程科技有限公司 | Method for automatically collecting defect data of subway tunnel |
| CN103674963A (en) * | 2013-11-15 | 2014-03-26 | 上海嘉珏实业有限公司 | Tunnel detection device based on digital panoramic photography and detection method thereof |
| CN105350979A (en) * | 2014-03-28 | 2016-02-24 | 宋金博 | Detection method of tunnel safety detecting and repairing car having warning function |
| CN105422174B (en) * | 2014-03-28 | 2018-02-09 | 江西省交通设计研究院有限责任公司 | A kind of tunnel safety tool car with 3D holographic scanners |
| CN103912281A (en) * | 2014-03-28 | 2014-07-09 | 宋金博 | Tunnel safety inspection vehicle and detection method |
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| CN105422174A (en) * | 2014-03-28 | 2016-03-23 | 宋金博 | Tunnel safety maintenance car provided with 3D holographic scanner |
| CN105350979B (en) * | 2014-03-28 | 2017-09-15 | 天津大学 | A kind of detection method of the tunnel safety tool car with warning function |
| CN104111259A (en) * | 2014-07-11 | 2014-10-22 | 上海通芮斯克土木工程技术有限公司 | Rapid high-precision detection equipment of subway shield tunnel diseases |
| CN104237257A (en) * | 2014-09-25 | 2014-12-24 | 同济大学 | Device for comprehensively and rapidly detecting structure damage of running metro tunnel |
| CN104237257B (en) * | 2014-09-25 | 2018-05-08 | 同济大学 | A kind of detection device for operation tactics Structural defect |
| CN104266592A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Sleeper-based displacement measuring method for mobile device inside tunnel |
| CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
| CN104527495A (en) * | 2014-12-19 | 2015-04-22 | 云南省公路开发投资有限责任公司 | Integrated detection truck for road tunnel defects |
| CN104527495B (en) * | 2014-12-19 | 2016-07-06 | 云南省公路开发投资有限责任公司 | A kind of integrated detection car of vcehicular tunnel disease |
| CN104793259B (en) * | 2015-04-13 | 2017-12-12 | 山东大学 | A kind of vehicular tunneling boring infrared acquisition Preceding geology predictor and its method |
| CN104793259A (en) * | 2015-04-13 | 2015-07-22 | 山东大学 | Vehicular full-section infrared detection advanced geological forecasting device and method for applying same |
| CN105004621A (en) * | 2015-04-23 | 2015-10-28 | 山东大学 | Vehicle-mounted tunnel full-section multi-arm springback detection device and using method thereof |
| CN104807505A (en) * | 2015-05-22 | 2015-07-29 | 合肥昊诚工贸有限责任公司 | Novel tunnel condition detecting device |
| CN105510351B (en) * | 2016-01-28 | 2018-03-30 | 北京工业大学 | A kind of Tunnel testing car |
| CN105510350A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel surface image acquisition device and tunnel surface detection equipment |
| CN105510351A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel inspection van |
| CN106080626B (en) * | 2016-06-16 | 2018-05-11 | 王春洋 | A kind of Portable type full-automatic track, tunnel moving detection vehicle |
| CN106080626A (en) * | 2016-06-16 | 2016-11-09 | 王春洋 | A kind of Portable type full-automatic track, tunnel moving detection vehicle |
| CN106080653A (en) * | 2016-06-20 | 2016-11-09 | 上海工程技术大学 | A kind of portable Traffic Clearance of Urban Rail Transit detects car frame |
| CN106546190B (en) * | 2016-11-30 | 2019-04-16 | 山西省交通科学研究院 | A kind of robot device and method for surface defects detection |
| CN106546190A (en) * | 2016-11-30 | 2017-03-29 | 山西省交通科学研究院 | A kind of robot device and method for surface defects detection |
| CN108663121A (en) * | 2017-04-01 | 2018-10-16 | 武汉多谱多勒科技有限公司 | A kind of on-line monitoring of water seepage of tunnel and detecting system |
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| WO2019033862A1 (en) * | 2017-08-14 | 2019-02-21 | 成都中信华瑞科技有限公司 | Data collection method and tunnel detection vehicle |
| CN107333046B (en) * | 2017-08-14 | 2019-06-25 | 成都中信华瑞科技有限公司 | Collecting method and Tunnel testing vehicle |
| CN107345792A (en) * | 2017-08-23 | 2017-11-14 | 南京火眼猴信息科技有限公司 | A kind of vcehicular tunnel surface and internal detection car |
| CN109630821A (en) * | 2018-12-21 | 2019-04-16 | 上海隧道工程质量检测有限公司 | A kind of tunnel detector |
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Application publication date: 20111012 |